Page 452 - Hacking Roomba

Index R–S 433
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radius/velocity, left/right speeds from, 94–96, roomba_init_serialport method, 346–347 RoombaMidi, 161–162, 162–163
94–95 Roomba Mind Control, 366, 366–367 core MIDI for, 164–166
RCTIME function, 275 Roomba Monitor, 373 translating MIDI notes into actions,
real-time driving, 104–107, 141 Roomba Open Interface (ROI), 3, 415–416 163–164
RealTerm program, 58, 59–60 cleaning motor commands, 30 RoombaNet board, 367, 367–368
reboot, driver loading at, 319 commands roombapanel.cgi file, 351, 352, 361–362
receiving specifications, 419–422, 425 roombapanel.html, 360–361
sensor data, 115–117 structure, 27–28 RoombaRing, 160–161
serial data, 269 connectors, 21–24, 21–24 RoombaRoach, 273–275, 273–274
rect method, 144 for control, 20 RoombaSketch, 191–193, 193–194
refreshing webcam images, 342–343, 343 drive motor commands, 29–30 RoombaSpiro, 184
refreshIt function, 343 indicator commands, 32–33 RoombaView program
regulators. See voltage regulators for internal state, 20 features, 140–141
relays in schematic diagrams, 411, 411 limitations, 20–21 finishing, 149, 150
remote control mode commands, 28–29 MyGUI library for, 142–144, 144
codes for, 36–37, 36–37 modes, 25–27, 26, 419 position computations in, 147–148
hacks for, 378–379, 378–379 OSMO//hacker upgrade for, 16–17, 17 in real-time, 141
in third generation cleaners, 8 for physical connections, 418 rotation and translation in, 146–147
remote control sensor protocol, 24–25 sensor data in, 144
orientation of, 16 for sensing, 19–20, 33–38, 35–38 status display in, 148–149
packets for, 424 sensor packets, 423–424, 426 virtual Roombas drawings in, 144–146
remote transmitter, 379–380, 380–381 serial port settings, 418 Roombongle, 353–357, 354–357
Rendezvous networking, 214 in third generation cleaners, 8 RoomBuds, 370, 371
replacing Roomba Pink Ribbon Edition, 10, 11 RooStamp board, 261
brain. See brain replacement Roomba Pro, 6, 7 RooStick, 42, 42
firmware, 299 Roomba Pro Elite, 6, 7 RooTooth circuit, 65, 66
resistance roomba_read_sensors method, 250–252, 346, rotate method, 147
in Ohm’s Law, 47 348 rotation
in solder joint tests, 396 Roomba Red, 8, 8 in RoombaView, 146–147
resistors Roomba Sage, 8, 9 specific angles, 101–102
in LED circuits, 47 Roomba Scheduler, 12, 12 routers, wireless
in schematic diagrams, 409–410, 409 roomba_send_cmd method, 250 for OpenWrt, 303–304
Restriction of Hazardous Substances (RoHS) roomba_spin_left method, 250 as toys, 299–301, 300
directive, 386 roomba_spin_right method, 250 RS-232 communication
RF interference, 45, 46 roomba_spinleft method, 323 for serial interface tether, 44, 45, 48
RGB LEDs, 290, 291–292 roomba_spinright method, 323 voltages for, 22
right bump sensors for mouse simulation, 191 roomba_stop method, 249, 323 RTTTL (Ringing Tones Text Transfer
Ringing Tones Text Transfer Language Roomba Terminal application, 373, 373–374 Language), 159–160
(RTTTL), 159–160 Roomba Wi-Fi adapter RTTTLParser class, 159–160
ringtones, 159–161 building, 241–246, 241–243 RTTTLPlay.java program, 160
RJ-45 jacks enclosure for, 253, 254 rulers for attaching brushes, 173–174, 173–174
in Ethernet, 206 testing, 247, 247 running mode in Arduino, 286–288, 287
for SitePlayer Telnet adapter, RoombAlarmClock, 200–202 runRadioCmd method, 200–202
211–213, 213 roombacam.html file, 342–343, 343 RXD signal, 21–23
roach, robot, 273–275, 273–274 roombacmd.c file, 346 RXTX serial port library, 84–87
roaming in Wi-Fi, 233–234 roombacmd-ipkg directory, 350
robot roach, 273–275, 273–274 roombacmd.mpl script, 322–324
robots roombacmd.php file, 249–253, 252
art by, 168 roombacmd program, 346–348 S
vs. telepresence devices, 257 building, 349–350 SableVM, 321
RoHS (Restriction of Hazardous Substances) listing, 348–349 SAFE command
directive, 386 RoombaComm API, 39–40 modes for, 26
ROI protocol, 24–25. See also Roomba Open code structure in, 84 opcodes and data bytes for, 27
Interface (ROI) commands for, 62–63 overview, 29
RooAVR processor, 261 packaging, 136 specification for, 420
Roobit the Frog, 370 RXTX serial port library for, 84–87 Safe mode, 25–26
Roomba 2.1, 10, 11 RoombaComm class, 84, 98 safety considerations, 43, 390
roomba_backward method, 323 RoombaComm.Drive program, 102 sags, 46, 46
Roomba Discovery, 8, 9 RoombaComm.Waggle program, 104 saving WiMicro configuration, 246
Roomba Discovery SE, 10, 10 RoombaCommSerial class, 84, 116–117 SBCs (single board computers), 298–299
roomba_drive method, 250, 346–348 RoombaCommTCPClient class, 84, 225–228 scalex value, 147
roomba_forward method, 323 RoombaCommTest program, 60–63, 61 scaley value, 147
roomba_forward.sh script, 322 RoombaDevTools.com, 373 scheduling in third generation cleaners, 8
roomba_go_backward method, 249 RoombaFX framework, 372–373, 373–374 schematic diagrams, 405
roomba_go_forward method, 249 roombalib.c file, 346–348 for Arduino-to-Roomba connection,
roomba_init method, 250, 322–323 roombalib library, 346 282, 283